diff options
Diffstat (limited to 'modules/bullet/rigid_body_bullet.cpp')
| -rw-r--r-- | modules/bullet/rigid_body_bullet.cpp | 26 |
1 files changed, 25 insertions, 1 deletions
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp index 37e7718969..9dd04100ed 100644 --- a/modules/bullet/rigid_body_bullet.cpp +++ b/modules/bullet/rigid_body_bullet.cpp @@ -268,6 +268,7 @@ RigidBodyBullet::RigidBodyBullet() : can_integrate_forces(false), maxCollisionsDetection(0), collisionsCount(0), + prev_collision_count(0), maxAreasWhereIam(10), areaWhereIamCount(0), countGravityPointSpaces(0), @@ -293,6 +294,9 @@ RigidBodyBullet::RigidBodyBullet() : areasWhereIam.write[i] = NULL; } btBody->setSleepingThresholds(0.2, 0.2); + + prev_collision_traces = &collision_traces_1; + curr_collision_traces = &collision_traces_2; } RigidBodyBullet::~RigidBodyBullet() { @@ -410,7 +414,14 @@ void RigidBodyBullet::on_collision_filters_change() { } void RigidBodyBullet::on_collision_checker_start() { + + prev_collision_count = collisionsCount; collisionsCount = 0; + + // Swap array + Vector<RigidBodyBullet *> *s = prev_collision_traces; + prev_collision_traces = curr_collision_traces; + curr_collision_traces = s; } void RigidBodyBullet::on_collision_checker_end() { @@ -433,10 +444,20 @@ bool RigidBodyBullet::add_collision_object(RigidBodyBullet *p_otherObject, const cd.other_object_shape = p_other_shape_index; cd.local_shape = p_local_shape_index; + curr_collision_traces->write[collisionsCount] = p_otherObject; + ++collisionsCount; return true; } +bool RigidBodyBullet::was_colliding(RigidBodyBullet *p_other_object) { + for (int i = prev_collision_count - 1; 0 <= i; --i) { + if ((*prev_collision_traces)[i] == p_other_object) + return true; + } + return false; +} + void RigidBodyBullet::assert_no_constraints() { if (btBody->getNumConstraintRefs()) { WARN_PRINT("A body with a joints is destroyed. Please check the implementation in order to destroy the joint before the body."); @@ -797,7 +818,10 @@ void RigidBodyBullet::reload_shapes() { const btScalar mass = invMass == 0 ? 0 : 1 / invMass; if (mainShape) { - btVector3 inertia; + // inertia initialised zero here because some of bullet's collision + // shapes incorrectly do not set the vector in calculateLocalIntertia. + // Arbitrary zero is preferable to undefined behaviour. + btVector3 inertia(0, 0, 0); mainShape->calculateLocalInertia(mass, inertia); btBody->setMassProps(mass, inertia); } |